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By Gary M. Bone

The autonomous control of vehicles interacting forcibly with their environment, such as dozers and tractors, is an unsolved and challenging problem. Forces and motions are inherently coupled between the tool and the means of vehicle propulsion. Furthermore, they are often operated within uncertain and unstructured environments, such as those encountered in underground mining. There is a growing industrial interest in the development of robotic vehicles to improve productivity, efficiency and safety in mining and construction. This paper focuses on the modeling and control of autonomous robotic dozing for a material removal operation. A dozing process model has been developed based on observations of both a fullscale dozer and a scaled-down version. The model characterizes the dynamic interactions between the blade position, material accumulation on the blade, material distribution in the environment, and the motions of the dozer. The dozing control objective is to remove the loose material as rapidly as possible by driving forwards at full power while automatically raising/lowering the blade in response to sensor measurements. Two different controllers were developed to meet this objective. The first controller is based on a set of heuristic rules, and the second is an optimal controller based on the dynamic model. An instrumented scaled-down robotic dozer and dozing environment, designed to emulate the full-scale operation, are used to implement the controllers and compare their performances over multiple dozing passes. Experimental results are presented showing that the model-based controller increased the material removal rate by 33% compared to the rule-based controller. Lastly, technologies for full-scale implementation are discussed, followed by proposed future work and conclusions.

Aug 1, 2013

By W. R. Tyson

Pipelines for the transport of gas and oil are being designed to operate at increasing pressures in increasingly harsh environments. The steel used to construct these pipelines must have adequate toughness to tolerate weld imperfections (i.e. withstand bending strains) and to arrest running cracks (i.e. to prevent propagation of axial fractures). The problems posed in specifying suitable toughness parameters and the approaches currently being used to measure them are discussed.

Jan 1, 2005

By Derrin A. Auerswald, Jacolien P. Wyethe, Nanne M. \/egter

Base and precious metal refineries often produce effluent solution and slurry streams containing between 50 mg/L and several grams per liter of base metals. Metals have historically been precipitated from these streams with lime to produce effluent streams at pH values between 8 and 9. This effluent treatment process generally does not remove alkali and alkali-earth metals or halides efficiently and with more stringent environmental legislation, more sophisticated effluent treatment plants must be considered which could for example incorporate sulphate removal with ultra-filtration, or the SavminTM process, followed by reverse osmosis for the removal of halides. The flowrates of effluents are often high and if base metals can be recovered before neutralization, the revenue generated from this stream can reduce the cost to produce clean water significantly, and in the case where high concentrations are disposed of, result in a profitable operation. As an add-on to an existing the plant the recovered metal is upgraded and recycled to the plant, but the production of a saleable metal can also be considered. Technology selection for metal recovery depends on the composition and flowrate of the effluent, but could incorporate resin-in¬pulp or other ion-exchange technology; precipitation as sulphides, hydroxides or carbonates; or solvent extraction. This paper describes, as a case study, the technology selection process and uses data from Zincor. Zincor is a division of Exxaro Base Metals (Pty) Limited, a subsidiary of Exxaro Resources Limited.

Jan 1, 2011

By A. M. Brown, P. V. Straznicky

Dimpling as a means of flush countersinking rivets is an old process predominantly used in secondary structures. The introduction of GLARE as an aerospace material has renewed interest in dimpling and its possible application in primary structures. The dimpling process is able to prevent the creation of a machined knife-edge in the thin aluminum plies of the GLARE sheets. In addition, dimpling eliminates the need to use reduced height rivets, such as the NAS 1097 rivet style. This investigation expands on an earlier study into dimpling of GLARE by Rans and Straznicky. In order to tailor the dimpling process to GLARE, FEM simulations were developed. After verification, a study was performed to find the best parameters for dimpling GLARE3-2/l. Coupon fatigue tests were carried out and the dimpled joints demonstrated increased fatigue lives over the conventional machine countersunk joints. Future wide panel fatigue tests are planned to confirm the usefulness of dimpling thin GLARE laminates.

Jan 1, 2006

By J. Nsasi Bakambu

This paper describes an autonomous platform for exploration and navigation within networks of tunnels, as those typically found in underground mines and caves. In the exploration mode, a remotely located supervisor instructs the platform to move through successive sections of the network, gathering range data that is, then, concatenated into 2D/3D survey maps of the environment. In the navigation mode, the supervisor specifies high-level missions on the previously acquired survey maps. A motion planner, then, translates each mission into a set of consecutive navigation actions, separated by natural landmarks. Mission execution consists of detecting landmarks, self-localizing and performing the planned navigation actions.

May 1, 2003

By A. Vervoort, A. Govaerts

Geostatistical concepts are often difficult for students to understand, even those with a strong mathematical background. One of the main problems is the link between the variation of the parameter value in space or time and the calculated experimental semivariogram. Another challenge is differentiating between directional and omnidirectional semivariograms and their interpretation. For these reasons, interactive tools were developed based on the free public domain software R. The use of these interactive tools is limited to educational situations only (i.e., to visualize basic concepts). The interactive modules can be accessed at www.bwk.kuleuven.be/geostatistics.

Jan 1, 2014

By G. Bonin, R. P. Preston

"This paper presents a series of case studies where spherical camera photographs were used to generate 3D shaft models using photogrammetric methods. The shaft models were, checked for accuracy by comparing them to overlapping laser scan data, provided survey data or idealized shaft models. Short lengths of model were found to more accurately reproduce the shaft surface, with a best observed accuracy of 8 mm. Longer models encountered errors with accumulated errors as exhibited by slight deviations from vertical or slightly conical model shape. At present, the models are considered acceptable for general documentation and gross change detection. INTRODUCTION Shaft inspections are required by mining regulations in many jurisdictions and are commonly completed by trained mine personnel via visual inspections. This can be time consuming and prone to errors due to lapses in attention and the rapid travel rate required to inspect an entire shaft in a reasonable amount of time. Similarly, because of the time requirements, there can be impacts on other aspects of mining as a result of occupying the shaft for inspections. Spherical cameras with supplemental light systems offer a modern addition or alternative to conventional inspections. These cameras can be lowered relatively quickly to collect high definition, fully illuminated videos of the shaft that can be reviewed in detail later while the shaft returns to service (Gillis et.al., 2019). The use of cameras offers a further opportunity for valuable survey data generation from the same original data stream. The video data can be processed into three-dimensional (3D) models using Structure-from-Motion (Westoby et al., 2012) based photogrammetric methods. Depending on the quality of the source video and availability of survey control (required for all photogrammetry models) these models can be very accurate. Shaft surveying can be conducted with traditional theodolite methods but such surveys are time consuming and limited in their data density. Similarly, scans can be completed using conventional terrestrial laser scanners, but this requires a significant number of distinct setups to provide sufficient overlap between scans. Work is being conducted both on the laser scanning (SLAM, Durrant-Whyte & Bailey, 2006) and photogrammetry fronts towards kinetic scanning (Benecke, 2017) systems. The major advancement which is permitting these kinetic systems is Inertial Measurement Units (IMUs) which can provide localization in GPS denied environments and reduce errors associated with the open traverse format associated with shaft scanning."

Jan 1, 2019

By Eugene Larochelle

The serpentine of the Eastern Townships of Quebec is more or less seamed and impregnated with chrysotile asbestos, of which we note two types: the cross-fibre and the disseminated fibre. The cross-fibre type always appears in fibres or crystals arranged parallel to one another, and disposed at right angles to the walls of the matrix serpentine. The length of fibre of these veins, which run in every conceivable direction, even crossing ?one another, varies from microscopie dimensions to three and sometimes four and even five inches. It is the principal form of asbestos found in the serpentine of Thetford Mines, Black Lake, Coleraine, and Asbestos. The disseminated-fibre type, which is the main product of the serpentine of Broughton township, in which ate located the mines at East Broughton, does not form veins, but occurs in the serpentine without any definite arrangement. There is a difference in the toughness and hardness of the rock of the two types, the Broughton serpentine being softer than that at Thetford. The disseminated-fibre section of the serpentine belt is probably more regular in its content than is the cross-fibre section. Nevertheless, it contains no 'crude,' which is the most valuable of asbestos, and the fibre is usually shorter than the cross-fibre average.

Jan 1, 1928

By w. w. Milde

"Since its startup in 1975, the Rabbit Lake mill has been modified (0 process both increased tonnage and higher grade ore. Ore initially came from the Rabbit Lake pit . In 1985, a major mill expansion was commissioned to allow treatment of B-zone pit ore, which is mineralogically and metallurgically different fromRabbit Lake pit ore.Mill modifications, and the changing ore characteristics and processing targets which made them necessary, are described. Mill LocationThe mill complex, shown in Figure I, comprised of milling facilities, acid plant, power generation , warehouse and administration offices, is located approximately 1.5 Ian south of the Rabbit Lake pit, and about 8 Ian southwest of the B-zone open pit mine.Original Milling CircuitOre feed to the mill commenced June 10, 1975. The mill was designed to process 1500 tonnes per day , 483 000 tonnes per year with an average grade of O.44OJo Ups and an annual production of 2000 tonnes UPs' Run-of-mine ore was dumped directly onto a 60 em square opening grizzly. Oversize was broken with an Ingersoll-Rand hydrauli c rock breaker. Minus 60 cm ore was fed to a 6 m diameter by 1.8 m long Hardinge semi-autogenous (SAG) grate discharge mill. Mill discharge was screened over a Tyler double-deck vibrating screen, with screen oversize returned to the SAG mill feed chute via conveyor belt. Screen undersize (minus 2.4 mm) was pumped to 51 cm diameter Krebs cyclones in closed circuit with the SAG mill. Cyclone overflow (about 50% minus 74 micron) was thickened to 55% solids in a 30 m diameter neutral thickener .Thickened pulp was stored in two mechanically-agitated wood stave tanks (5.5 m diameter by 6 m high), to which sulphuric acid was added to obtain a pH range of 1.5 to 2.0. The fmalleaching was carried out in five more identical tanks. Sulphuric acid and sodium chlorate were used to maintain a pH of 1.5 and a terminal emf of -450 to -500 mV. Steam sparge was utilized to obtain a temperature of 45°C."

Jan 1, 1989

By K. Oishi

We have developed a 76Cu-3Si-21Zn alloy "ECOBRASS®" containing no lead. When 3% Si is added to a 78Cu-22Zn alloy, kappa and gamma phases participate uniformly in the alpha matrix. When being machined, stress concentrates on these hard phases, namely kappa and gamma, and thereby lowering the required cutting force and yielding segmentalized chips without lubricant. Kappa and gamma phases transform into beta phase under high temperature, which makes it easier to extrude and/or forge the alloy. When 0.08% P and 50 ppm Zr are co-added, the grains of ECOBRASS® castings are refined significantly to become as small as several dozens of micrometers. The grain refinement by the co-addition of P and Zr improves castability, tensile strength and elongation of ECOBRASS® castings. Meanwhile, the lead leachate from an ECOBRASS® water meter, field-tested in pH 6.8 drinking water for one year, was less than 5 ppb without correction. No indication of dezincification corrosion was observed, either. ECOBRASS® is equally suitable for rods, forgings and castings, and makes it possible to produce a complete set of plumbing parts (valves, faucets, etc.) by its own. This way, not only improving recyclability, ECOBRASS® also realizes size and weight reduction due to its good corrosion resistance and high strength.

Jan 1, 2007

By Z. -G. Ren, J. -S. Qian, Y. -G. Yang

The waste slags from chemical and metallurgical plants contain approximately wt 1% water soluble Cr6+. This hexavalent chromium is very harmful to human health, and the treatment of the slags has concerned metallurgists for many years. A sintering method was developed to treat the waste slag. In this process, sinter was made from a mixture of the waste slag containing hexavalent chromium, iron concentrate and coke breezes. During sintering, hexavalent chromium was reduced to trivalent chromium. The latter is known as a non-harmful material and can be used as chromium resource for the production of ferrochromium or chromium-containing cast iron. After sintering the hexavalent chromium in the sinter could be reduced to less than 0.0008%. It was found that the waste slag with fine particles was favourable to the Cr6+ removal. An increase of carbon content in the sintering mixture could increase the rate of Cr6+ removal and the strength of the sinter produced. The rate of Cr6+ removal increased with increasing basicity of the sintering materials with basicity less than B=1.8, above which it decreased with increasing basicity. Blast furnace was found to operate smoothly when using the sinter made from the waste slag containing chromium. However the productivity of sintering machine was slightly low compared to the sintering operation using ordinary raw materials.

Jan 1, 2004

By J. J. Jonas, G. R. Stewart, N. Pokutylowicz, S. Yue, R. Varano, A. Elwazri

Differing thermal histories in and around a weld can lead to differences in grain size, phase composition and morphology of precipitates; mechanical properties will vary accordingly. Hardness testing gives limited information and the machining and testing of tensile and/or impact specimens that would reveal these variations (which may occur over very small distances) is not practical. Therefore, in this investigation, shear punch testing was applied to measure the variation in the room temperature mechanical properties of a welded pipeline steel.

Jan 1, 2005

By S. Aram

Concrete reinforcing requires coordination among many roles: structural engineer, estimator, detailer, fabricator, installer and others. The methods used to define and represent concrete reinforcement elements and assemblies in building information models is crucial in determining the efficiency of sharing data among BIM platforms and the effectiveness of using the carried data in production planning, fabrication and site work activities. Starting from the information items that are required to be provided by BIM platforms, as defined in earlier work, we have developed the Industry Foundation Classes (IFC) bound Concepts and Model View Definitions (MVDs) for concrete reinforcement. Furthermore, in coordination with software developers, we propose guidelines for best practices for concrete reinforcement modeling. Implementing these guidelines by software providers will improve reinforcement modeling with regard to various aspects of reinforcement products like geometric representation, placement, and property specifications. The proposed approach is selected as a way to improve functionality of the shared data for production planning, fabrication, project management, and site activities. Guidelines for assigning information to rebar type and instance definitions as well as to rebar elements and assemblies are provided. An efficient method of sharing geometry and property sets among rebar instances of a rebar array is also defined.

Aug 1, 2013

By Tom Setterfield

Monster Copper Resources ?Junior focused solely on IOCG deposits ?Founded by ex-WMC geoscientists ?Properties in Brazil, Wernecke Breccias (Yukon), Central Mineral Belt and Nova Scotia Nova Scotia ?JV with Wallbridge Mining Company ?Ongoing Story ?Presented as a case study in generation and implementation of IOCG exploration program

Apr 1, 2005

By Rae Simpson

"This paper provides insight into the elements of computerized maintenance systems and identifies some of the factors which influence their effectiveness. The paper describes what to expect in terms of benefits and problems, the nature of effective computerized maintenance systems, some of the systems available and a process for selecting a system for your organization.The paper will be of interest to mining company executives and maintenance or computer personnel who are involved with, or contemplating, the introduction of computerized maintenance systems.IntroductionIn the drive to improve profits in an increasingly competitive world, mining companies are now using some of the most sophisticated equipment available. The introduction of large and complex equipment such as drag lines, haul trucks, and high-capacity milling equipment has resulted in order-of magnitude improvements in productivity. However, this productivity is now, more than ever, dependent on the continued operation of the equipment. A prolonged breakdown of a critical component can have a significant effect on companies' bottom-line results. As more technologically sophisticated equipment is introduced, maintenance costs become an increasingly important factor for mining companies.Fortunately, sound modern management principles are being used more often in maintenance departments. Progressive maintenance managers are turning to computers to help manage the myriad of details associated with running a maintenance organization.Some maintenance departments in larger mining operations would find it difficult, if not impossible, to operate at current productivity levels without their computer systems. Unfortunately, some other companies gain very little from their computerized systems and would probably be better off without them.How can you be sure that computerized maintenance will improve the maintenance picture for your company? What benefits can you expect to achieve? How do you go about selecting a maintenance system for your organization? These are some of the questions facing industry managers and executives today. In the following sections, we will provide some guidelines and insights to help address these challenges."

Jan 1, 1988

By A. Mellek, M. Pischtschan, M. Perrucci

ABB has received an order for one of the most challenging mill drive projects in its history. With one SAG mill and one ball mill to be added at an iron ore mine in Sweden, the customer’s plant managers wanted to have the most efficient solution for driving their mills but had the budget limitations typically faced by the majority of mining companies during periods of market downturn. To find the best balance between cost of acquisition and highest performance throughout the lifetime of the plant, ABB was selected to deploy a synchronized bypass solution, in which only one drive system is used for two different mills in series. However, being one of the first grinding mills in the world with such a solution was not the only challenge the ABB team faced: The inclusion of some mill application functions - e.g., frozen charge protection, automatic positioning and creeping mode - brought the demands on the engineers to another level. With only one frequency converter and one mill application controller available, the configuration logic and interlocks had to be meticulously designed and thoroughly tested to ensure a smooth and safe startup. The solution offers a footprint reduction and more operator flexibility at a reduced investment as each mill can be run in both directions, and wear on the mechanical components can be greatly reduced due to ABB’s premium ring-geared mill drive (RMD). This paper will describe the details of the project, the configuration developed and the tests performed to guarantee correct software functionality. Mill startup is scheduled for January 2016.

Jan 1, 2016

By B P. Scott

Podsol soil horizons developed on Pleistocene glacial sediments overlying the Coronation Mine orebody were analyzed for copper and zinc spectro-photometrically, using biquinoline-isoamyl alcohol and dithizone carbon tetrachloride reagents. Copper and zinc are concentrated in the A. and C horizons, whereas the A1, A2 and B horizons are leached. Of economic significance is the fact that the C horizon contains a copper anomaly, in excess of 100 times back-ground, directly over the orebody. Due to the erratic distribution of high copper concentrations in the Ao horizon with respect to the orebody, that horizon is not considered as a reliable prospecting datum. U NDER certain conditions, metallic ore deposits are accompanied by primary halos of trace elements in unweathered rock surrounding the orebodies or by secondary halos in weathered rock, alluvium, soil, or vegetation above or near the mineralized zones. Where such halos occur, chemical analysis, as applied to the detection of trace elements, is a valuable prospecting aid, permitting the detection of mineralization of possible economic value.

Jan 1, 1965

By L. Xia, B. Hart, K. Douglas1, S. C. Chelgani

Development work to optimize a flotation flowsheet for rare earth element (REE) recovery is underway. The original approach used alkyl phosphates and phosphoric acid ester as collectors to concentrate REE minerals. To improve REE recovery, hydroxamates as alternative collectors were investigated. In this paper, micro flotation of REE minerals using salicylic, benzoyl and naphthoyl hydroxamates is reported. Unlike phosphonic collectors, slime removal does not show a significant effect on REE recovery when using hydroxamates as collectors. Among the three hydoxamates, the grade of La, Ce, and Nd for concentrates produced by salicylic hydroxamate is the highest. The recovery response with naphthoyl hydroxamate is similar to that of salicylic hydroxamate; good grades for La, Ce, and Nd, less effective for Nb, Y, and Zr. The data indicated an affinity by salicylic and naphthoyl hydroxamtes for LREE over the HREE minerals. In comparison, benzoyl hydroxamate indicated an affinity for Nb, Y, and Zr. Temperature effects on REE recovery were also studied. The grade and recovery of REEs generated by flotation using a mix of salicylic and benzoyl hydroxamates at room temperature was almost identical or even better relative to the recovery using naphthoyl hydroxamates at elevated temperature.

Jan 1, 2014

"Industry Guide 7 contains the Securities and Exchange Commission’s basic mining disclosure policy. It provides guidance for Registrants on various matters including the definition and disclosure of proven and probable reserves and the definitions of exploration, development and production stages. The definitions and disclosure instructions contained in this Guide apply to all public mining entities and their public disclosures. As NI 43-101 is law in Canada, the SEC allows mineral resources and mineral reserves prepared under CIM Definition Standards for issuers that are reporting in Canada but are also registered with the SEC. The SEC places conditions on the disclosure of these estimates. US shareholders are cautioned that the requirements under NI 43-101 and the CIM Definition Standards differ significantly from those of Industry Guide 7.Note: this Guide contains the Commission's basic mining disclosure policy. The definitions and disclosure instructions contained in this Guide apply to all public mining entities and their public disclosures pursuant to the rules of Regulation S-K. Questions regarding the application of these definitions and rules to specific situations should be asked of the Commission's mining engineers or geologists at either the Office of Engineering, Division of Corporation Finance, 202-272-3252, or the Branch of Geology, Central Regional Office, 303-844-1000.(a) Definitions. The following definitions apply to registrants engaged or to be engaged in significant mining operations:(1) Reserve. That part of a mineral deposit which could be economically and legally extracted or produced at the time of the reserve determination.Note: Reserves are customarily stated in terms of DoreD when dealing with metalliferous minerals; when other materials such as coal, oil shale, tar, sands, limestone, etc. are involved, an appropriate term such as Drecoverable coalD may be substituted.(2) Proven (Measured) Reserves. Reserves for which (a) quantity is computed from dimensions revealed in outcrops, trenches, workings or drill holes, grade and/or quality are computed from the results of detailed sampling and (b) the sites for inspection, sampling and measurement are spaced so closely and the geologic character is so well defined that size, shape, depth and mineral content of reserves are well- established.(3) Probable (Indicated) Reserves. Reserves for which quantity and grade and/or quality are computed from information similar to that used for proven (measured) reserves, but the sites for inspection, sampling, and measurement are farther apart or are otherwise less adequately spaced. The degree of assurance, although lower than that for proven (measured) reserves, is high enough to assume continuity between points of observation.(4)(i) Exploration StageDincludes all issuers engaged in the search for mineral deposit (reserves) which are not in either the development or production stage."

Jan 1, 2003

By G. Dubé, A. Leclerc, P. Quinn, G. E. Agar, J. Y. Clouthiér, J. D. McLaughlin

"Gold dissolution by cyanide requires the presence of oxygen which is usually supplied by sparging compressed air into the gold containing slurry. For those ores that contain certain obnoxious substances that consume oxygen, maintaining the required minimum level of dissolved oxygen can be troublesome. One of the most economical solutions to the problem of low dissolved oxygen, especially in plants that have air compressors installed, is to enhance the rate of oxygen mass transfer.The oxygen mass transfer rate was measured in a two phase system using two different sparger arrangements, and with addition of a frother that is known to reduce the bubble size produced by the sparger. The common sparger system was shown to be inefficient compared to a readily available but under utilized method of gas dispersion which introduces air directly below the reactor turbine. Transfer of this technology to an operating plant confirmed the beneficial effect of the improved sparger system. The addition of the frother did decrease the bubble size, but it also reduced the oxygen mass transfer rate."

Jan 1, 1993